I think you're optimistic, I think we'll see mass layoffs 5-10 years from now for white collar work, and 5-10 years after that for expensive manual labor (like doctors etc). I think the gap between "solving" white collar work (e.g something similar to AGI) and solving humanoid autonomous work will be narrow, but that's just my hunch.
Also, even without AI, sufficiently cheap telepresence robots can do to for manual labour what Mechanical Turk and remote work (and possibly GenAI) is doing for desk jobs — "good enough" can be surprisingly poor quality if it comes with a small enough invoice.
However, my main point is that things are hard to predict.